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PointToPlaneIcpConfig

spatialrust

Struct PointToPlaneIcpConfig 

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pub struct PointToPlaneIcpConfig {
    pub max_iterations: usize,
    pub max_correspondence_distance: f32,
    pub transformation_epsilon: f64,
    pub fitness_epsilon: f64,
    pub min_correspondences: usize,
    pub initial_guess: Isometry3<f32>,
}
Expand description

Configuration for point-to-plane ICP.

Point-to-plane ICP minimizes the distance from each transformed source point to the tangent plane of its target correspondence, which converges faster and more accurately than point-to-point ICP on locally planar surfaces. The target cloud must carry normals (e.g. from normal estimation).

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§max_iterations: usize

Maximum number of ICP iterations.

§max_correspondence_distance: f32

Maximum correspondence distance.

§transformation_epsilon: f64

Stop when the transform update is smaller than this threshold.

§fitness_epsilon: f64

Stop when the point-to-plane fitness is smaller than this threshold.

§min_correspondences: usize

Minimum number of correspondences required per iteration.

§initial_guess: Isometry3<f32>

Initial transform guess mapping source into target frame.

Implementations§

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impl PointToPlaneIcpConfig

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pub fn with_correspondence_distance( max_correspondence_distance: f32, ) -> PointToPlaneIcpConfig

Creates a config with the given correspondence distance.

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impl Clone for PointToPlaneIcpConfig

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fn clone(&self) -> PointToPlaneIcpConfig

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for PointToPlaneIcpConfig

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fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter. Read more
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impl Default for PointToPlaneIcpConfig

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fn default() -> PointToPlaneIcpConfig

Returns the “default value” for a type. Read more
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impl PartialEq for PointToPlaneIcpConfig

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fn eq(&self, other: &PointToPlaneIcpConfig) -> bool

Tests for self and other values to be equal, and is used by ==.
1.0.0 (const: unstable) · Source§

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl Copy for PointToPlaneIcpConfig

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impl StructuralPartialEq for PointToPlaneIcpConfig

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